Abstract
With the development of robot technology, it is an inevitable trend in the future that Robots will come into the normal life. Robots must be safe enough and ensure no hazard to person in order to coexist with people harmoniously. This paper provides a method to promote the robot safety by taking position-torque-position switching control. Namely, robot will work in normal position control mode for fast and accurate respond, until it impacts to humans. Once robot strikes to humans, it will change to torque control mode from position mode immediately. Robot will contact with humans very softly in torque control mode, so it is very safe. When humans leave from robot, it resumes to position control mode, and executes remainder tasks. Signal of striking to humans can be detected by torque sensor fixed in joint axis. Withdrawing of humans can be detected by measuring robot speed variety. The merit of above control method is that, at the condition of ensuring normal task performance, the robot safety has been enhanced remarkably. This method has been experimented at a 1DOF robot arm, and gain the anticipate results.
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© 2011 Springer-Verlag Berlin Heidelberg
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Haibin, W., Hongqing, Z., Jianming, Y., Feng, L. (2011). Robot Arm Safety Improvement by Position/Torque Switching Control. In: Zeng, D. (eds) Applied Informatics and Communication. ICAIC 2011. Communications in Computer and Information Science, vol 225. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23220-6_16
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DOI: https://doi.org/10.1007/978-3-642-23220-6_16
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-23219-0
Online ISBN: 978-3-642-23220-6
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